void disarm(void)
{
if (ARMING_FLAG(ARMED)) {
DISABLE_ARMING_FLAG(ARMED);
lastDisarmTimeUs = micros();
#ifdef USE_BLACKBOX
if (blackboxConfig()->device && blackboxConfig()->mode != BLACKBOX_MODE_ALWAYS_ON) { // Close the log upon disarm except when logging mode is ALWAYS ON
blackboxFinish();
}
#endif
BEEP_OFF;
#ifdef USE_DSHOT
if (isMotorProtocolDshot() && flipOverAfterCrashMode && !feature(FEATURE_3D)) {
pwmWriteDshotCommand(ALL_MOTORS, getMotorCount(), DSHOT_CMD_SPIN_DIRECTION_NORMAL, false);
}
#endif
flipOverAfterCrashMode = false;
// if ARMING_DISABLED_RUNAWAY_TAKEOFF is set then we want to play it's beep pattern instead
if (!(getArmingDisableFlags() & ARMING_DISABLED_RUNAWAY_TAKEOFF)) {
beeper(BEEPER_DISARMING); // emit disarm tone
}
}
}
/*
* Beeper handler function to be called periodically in loop. Updates beeper
* state via time schedule.
*/
void beeperUpdate(timeUs_t currentTimeUs)
{
// If beeper option from AUX switch has been selected
if (IS_RC_MODE_ACTIVE(BOXBEEPERON)) {
beeper(BEEPER_RX_SET);
#ifdef USE_GPS
} else if (feature(FEATURE_GPS) && IS_RC_MODE_ACTIVE(BOXBEEPGPSCOUNT)) {
beeperGpsStatus();
#endif
}
// Beeper routine doesn't need to update if there aren't any sounds ongoing
if (currentBeeperEntry == NULL) {
return;
}
if (beeperNextToggleTime > currentTimeUs) {
return;
}
if (!beeperIsOn) {
beeperIsOn = 1;
#ifdef USE_DSHOT
if (!areMotorsRunning() && beeperConfig()->dshotBeaconTone && (beeperConfig()->dshotBeaconTone <= DSHOT_CMD_BEACON5) && (currentBeeperEntry->mode == BEEPER_RX_SET || currentBeeperEntry->mode == BEEPER_RX_LOST)) {
pwmDisableMotors();
delay(1);
pwmWriteDshotCommand(ALL_MOTORS, getMotorCount(), beeperConfig()->dshotBeaconTone);
pwmEnableMotors();
}
#endif
if (currentBeeperEntry->sequence[beeperPos] != 0) {
if (!(getBeeperOffMask() & (1 << (currentBeeperEntry->mode - 1))))
BEEP_ON;
warningLedEnable();
warningLedRefresh();
// if this was arming beep then mark time (for blackbox)
if (
beeperPos == 0
&& (currentBeeperEntry->mode == BEEPER_ARMING || currentBeeperEntry->mode == BEEPER_ARMING_GPS_FIX)
) {
armingBeepTimeMicros = micros();
}
}
} else {
beeperIsOn = 0;
if (currentBeeperEntry->sequence[beeperPos] != 0) {
BEEP_OFF;
warningLedDisable();
warningLedRefresh();
}
}
beeperProcessCommand(currentTimeUs);
}
void tryArm(void)
{
if (armingConfig()->gyro_cal_on_first_arm) {
gyroStartCalibration(true);
}
updateArmingStatus();
if (!isArmingDisabled()) {
if (ARMING_FLAG(ARMED)) {
return;
}
#ifdef USE_DSHOT
if (micros() - getLastDshotBeaconCommandTimeUs() < DSHOT_BEACON_GUARD_DELAY_US) {
if (tryingToArm == ARMING_DELAYED_DISARMED) {
if (isModeActivationConditionPresent(BOXFLIPOVERAFTERCRASH) && IS_RC_MODE_ACTIVE(BOXFLIPOVERAFTERCRASH)) {
tryingToArm = ARMING_DELAYED_CRASHFLIP;
} else {
tryingToArm = ARMING_DELAYED_NORMAL;
}
}
return;
}
if (isMotorProtocolDshot() && isModeActivationConditionPresent(BOXFLIPOVERAFTERCRASH)) {
if (!(IS_RC_MODE_ACTIVE(BOXFLIPOVERAFTERCRASH) || (tryingToArm == ARMING_DELAYED_CRASHFLIP))) {
flipOverAfterCrashMode = false;
if (!feature(FEATURE_3D)) {
pwmWriteDshotCommand(ALL_MOTORS, getMotorCount(), DSHOT_CMD_SPIN_DIRECTION_NORMAL, false);
}
} else {
flipOverAfterCrashMode = true;
#ifdef USE_RUNAWAY_TAKEOFF
runawayTakeoffCheckDisabled = false;
#endif
if (!feature(FEATURE_3D)) {
pwmWriteDshotCommand(ALL_MOTORS, getMotorCount(), DSHOT_CMD_SPIN_DIRECTION_REVERSED, false);
}
}
}
#endif
ENABLE_ARMING_FLAG(ARMED);
ENABLE_ARMING_FLAG(WAS_EVER_ARMED);
resetTryingToArm();
#ifdef USE_ACRO_TRAINER
pidAcroTrainerInit();
#endif // USE_ACRO_TRAINER
if (isModeActivationConditionPresent(BOXPREARM)) {
ENABLE_ARMING_FLAG(WAS_ARMED_WITH_PREARM);
}
imuQuaternionHeadfreeOffsetSet();
disarmAt = millis() + armingConfig()->auto_disarm_delay * 1000; // start disarm timeout, will be extended when throttle is nonzero
lastArmingDisabledReason = 0;
//beep to indicate arming
#ifdef USE_GPS
if (feature(FEATURE_GPS) && STATE(GPS_FIX) && gpsSol.numSat >= 5) {
beeper(BEEPER_ARMING_GPS_FIX);
} else {
beeper(BEEPER_ARMING);
}
#else
beeper(BEEPER_ARMING);
#endif
#ifdef USE_RUNAWAY_TAKEOFF
runawayTakeoffDeactivateUs = 0;
runawayTakeoffAccumulatedUs = 0;
runawayTakeoffTriggerUs = 0;
#endif
} else {
resetTryingToArm();
if (!isFirstArmingGyroCalibrationRunning()) {
int armingDisabledReason = ffs(getArmingDisableFlags());
if (lastArmingDisabledReason != armingDisabledReason) {
lastArmingDisabledReason = armingDisabledReason;
beeperWarningBeeps(armingDisabledReason);
}
}
}
}
